Siemens Sinamics S120 Function Manual page 149

Image 4-17
When parameterizing a 2-encoder system with Safety Integrated, you must align parameters
p9315 to p9329 with parameters r0401 to r0474.
Not e
A s signment of the encoder parameters
Parameters p95xx are assigned to the 1st encoder; parameters p93xx to the 2nd encoder.
Not e
Transfer of the values f rom the encoder commissioning
To accept the values from the parameters filled during the encoder commissioning to the
safety parameterization, set parameter p9700 = 46 (2E hex). This copy function is only
possible if you are connected online with the drive unit.
Safety Integrated
Function Manual, (FHS), 07/2016, 6SL3097-4AR00-0BP6
Example of a 2-encoder system on a rotary axis
Description of Safety Integrated functions
4.2 Safety Integrated Extended Functions
149